#pragma once

#include "../LidarDriverX.h"

class LidarDriverPCD : public LidarDriverX
{
public:
    LidarDriverPCD(LidarConfigurationOptions *options = new LidarConfigurationOptions(), int id = 0);

private:
    std::string _pcd_file_path = "";

protected:
    void init() override;
    void dispose() override;
    void processPointCloud() override;
};